CN113917852B - Simulation control method, device and equipment of target drone and storage medium - Google Patents
Simulation control method, device and equipment of target drone and storage medium Download PDFInfo
- Publication number
- CN113917852B CN113917852B CN202111162314.8A CN202111162314A CN113917852B CN 113917852 B CN113917852 B CN 113917852B CN 202111162314 A CN202111162314 A CN 202111162314A CN 113917852 B CN113917852 B CN 113917852B
- Authority
- CN
- China
- Prior art keywords
- navigation
- control
- information
- model
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 125
- 238000000034 method Methods 0.000 title claims abstract description 68
- 230000008569 process Effects 0.000 claims abstract description 12
- 238000013016 damping Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 10
- 230000002265 prevention Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 24
- 230000004044 response Effects 0.000 description 10
- 238000012545 processing Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a simulation control method, a simulation control device, simulation control equipment and a storage medium for a target drone, and belongs to the technical field of maneuvering control of the target drone. The method comprises the following steps: acquiring current navigation information of a simulation target drone model in a simulation environment; determining a current navigation control stage of the simulated target aircraft model according to the current navigation information, wherein the navigation process of the simulated target aircraft model comprises a plurality of navigation control stages, and the route formed by the simulated target aircraft model after navigation according to the sequence of the navigation control stages is a route with a preset shape; determining overload control information and heading control information of the simulated target aircraft model according to the value of the running parameter of the simulated target aircraft model in the current navigation control stage; and controlling the simulated target drone model to navigate according to the overload control information and the heading control information. The application can improve the controllability of the target drone, thereby improving the burst prevention capability of the anti-ship missile.
Description
Technical Field
The application relates to the technical field of maneuvering control of a target drone, in particular to a simulation control method, a simulation control device, simulation control equipment and a storage medium of the target drone.
Background
In order to improve the burst prevention capability of the anti-warship missile, the end guidance of the anti-warship missile is mostly in a maneuvering form so as to avoid interception. S maneuver is one of the main maneuver forms, and S maneuver refers to the repeated rolling of the aircraft in the flying process, changes the course, and the track presents an S-shaped maneuver, which is also called as a snake maneuver. Through the S maneuvering control technology, various maneuvering actions of preset overload can be realized by simulating the end guidance of the anti-ship missile by using the target aircraft, and the target characteristics can be better simulated.
The currently adopted target drone simulation mode mainly sets fixed time, and then changes the rolling angle of the target drone at fixed time so as to realize open loop control of the target drone.
However, in actual operation, if the target drone itself has asymmetry or is affected by external factors such as wind force, the horizontal distance of the drone sailing is uncontrollable, the S-track of the target drone is asymmetric left and right, and thus the controllability of the target drone is poor, and the burst prevention capability of the anti-ship missile is affected.
Disclosure of Invention
The application aims to provide a simulation control method, a simulation control device, simulation control equipment and a storage medium for a target aircraft, which can improve the controllability of the target aircraft and further improve the burst prevention capability of anti-ship missiles.
Embodiments of the present application are implemented as follows:
In one aspect of the embodiment of the present application, a method for simulating and controlling a target drone is provided, the method being applied to an electronic device, in which a simulation environment of the target drone is operated, the simulation environment including a simulation target drone model of the target drone, the method including:
acquiring current navigation information of a simulation target drone model in a simulation environment;
determining a current navigation control stage of the simulated target aircraft model according to the current navigation information, wherein the navigation process of the simulated target aircraft model comprises a plurality of navigation control stages, and the route formed by the simulated target aircraft model after navigation according to the sequence of the navigation control stages is a route with a preset shape;
determining overload control information and heading control information of the simulated target aircraft model according to the value of the running parameter of the simulated target aircraft model in the current navigation control stage;
And controlling the simulated target drone model to navigate according to the overload control information and the heading control information.
Optionally, the current voyage information includes: a current heading;
determining a current navigation control stage of the simulation target drone model according to the current navigation information, wherein the current navigation control stage comprises the following steps:
determining whether the simulation target drone model meets a first heading condition according to the current heading and a first preset heading;
And if the simulated target aircraft model meets the first heading condition, determining the current navigation control stage of the simulated target aircraft model as a first navigation control stage.
Optionally, the current voyage information includes: a current heading;
determining a current navigation control stage of the simulation target drone model according to the current navigation information, wherein the current navigation control stage comprises the following steps:
determining whether the simulation target drone model meets a second heading condition according to the current heading and a second preset heading;
and if the simulated target aircraft model meets the second heading condition, determining the current navigation control stage of the simulated target aircraft model as a second navigation control stage.
Optionally, the current voyage information includes: a lateral navigational distance;
determining a current navigation control stage of the simulation target drone model according to the current navigation information, wherein the current navigation control stage comprises the following steps:
determining whether the simulated target drone model meets the navigational distance condition according to the transverse navigational distance;
and if the simulated target aircraft model meets the sailing distance condition, determining the current sailing control stage of the simulated target aircraft model as a third sailing control stage.
Optionally, the current voyage information includes: transverse sailing distance and number of sailing turns;
determining a current navigation control stage of the simulation target drone model according to the current navigation information, wherein the current navigation control stage comprises the following steps:
Determining whether to reduce the number of maneuvering turns of sailing according to the transverse sailing distance;
Determining whether the simulated target aircraft model meets the navigation lap condition according to the navigation lap;
and if the simulated target aircraft model meets the navigation turn number condition, determining that the current navigation control stage of the simulated target aircraft model is a fourth navigation control stage.
Optionally, determining overload control information and heading control information of the simulated target drone model according to the value of the operation parameter of the simulated target drone model in the current navigation control stage comprises:
And determining overload control information of the simulated target machine model according to the value of a first operation parameter of the simulated target machine model in the current navigation control stage, wherein the first operation parameter comprises: overload control integral parameters, overload instruction information, overload information, pitch control damping parameters, pitch rate.
Optionally, determining overload control information and heading control information of the simulated target drone model according to the value of the operation parameter of the simulated target drone model in the current navigation control stage comprises:
And determining course control information of the simulated target machine model according to the value of a second operation parameter of the simulated target machine model in the current affiliated course control stage, wherein the second operation parameter comprises: heading control proportion parameters, heading instruction information, heading information, roll control proportion parameters, roll angle information, roll control damping parameters and roll angle rate.
In another aspect of the embodiments of the present application, there is provided an analog control device of a drone, which is applied to an electronic device, in which a simulation environment of the drone is operated, the simulation environment including a simulation drone model of the drone, the device including: the system comprises an acquisition module, a determination module and a navigation module;
the acquisition module is used for acquiring current navigation information of the simulation target drone model in a simulation environment;
The determining module is used for determining the current navigation control stage of the simulated target machine model according to the current navigation information, wherein the navigation process of the simulated target machine model comprises a plurality of navigation control stages, and the route formed by the simulated target machine model after navigation according to the sequence of the navigation control stages is a route with a preset shape;
the determining module is also used for determining overload control information and course control information of the simulation target drone model according to the value of the operation parameter of the simulation target drone model in the current navigation control stage;
And the navigation module is used for controlling the simulated target drone model to navigate according to the overload control information and the heading control information.
Optionally, the current voyage information includes: a current heading; the determining module is specifically used for determining whether the simulation target drone model meets a first heading condition according to the current heading and a first preset heading; and if the simulated target aircraft model meets the first heading condition, determining the current navigation control stage of the simulated target aircraft model as a first navigation control stage.
Optionally, the current voyage information includes: a current heading; the determining module is specifically used for determining whether the simulation target drone model meets a second heading condition according to the current heading and a second preset heading; and if the simulated target aircraft model meets the second heading condition, determining the current navigation control stage of the simulated target aircraft model as a second navigation control stage.
Optionally, the current voyage information includes: a lateral navigational distance; the determining module is specifically used for determining whether the simulated target drone model meets the navigational distance condition according to the transverse navigational distance; and if the simulated target aircraft model meets the sailing distance condition, determining the current sailing control stage of the simulated target aircraft model as a third sailing control stage.
Optionally, the current voyage information includes: transverse sailing distance and number of sailing turns; the determining module is specifically used for determining whether to reduce the number of maneuvering turns of sailing according to the transverse sailing distance; determining whether the simulated target aircraft model meets the navigation lap condition according to the navigation lap; and if the simulated target aircraft model meets the navigation turn number condition, determining that the current navigation control stage of the simulated target aircraft model is a fourth navigation control stage.
Optionally, the determining module is specifically configured to determine overload control information of the simulated target drone model according to a value of a first operation parameter of the simulated target drone model in a current navigation control stage, where the first operation parameter includes: overload control integral parameters, overload instruction information, overload information, pitch control damping parameters, pitch rate.
Optionally, the determining module is specifically configured to determine heading control information of the simulated target drone model according to a value of a second operation parameter of the simulated target drone model in a current affiliated heading control stage, where the second operation parameter includes: heading control proportion parameters, heading instruction information, heading information, roll control proportion parameters, roll angle information, roll control damping parameters and roll angle rate.
In another aspect of an embodiment of the present application, there is provided a computer apparatus including: the target drone simulation control method comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor realizes the steps of the target drone simulation control method when executing the computer program.
In another aspect of the embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the simulation control method of a target drone described above.
The beneficial effects of the embodiment of the application include:
According to the simulation control method, device and equipment for the target drone and the storage medium, current navigation information of a simulation target drone model in a simulation environment can be obtained; determining a current navigation control stage of the simulated target aircraft model according to the current navigation information, wherein the navigation process of the simulated target aircraft model comprises a plurality of navigation control stages, and the route formed by the simulated target aircraft model after navigation according to the sequence of the navigation control stages is a route with a preset shape; determining overload control information and heading control information of the simulated target aircraft model according to the value of the running parameter of the simulated target aircraft model in the current navigation control stage; and controlling the simulated target drone model to navigate according to the overload control information and the heading control information. After the overload control information and the course control information are acquired in the mode, the simulation target aircraft model is controlled according to the overload control information and the course control information, so that the controllability of the simulation target aircraft model can be improved, the simulation target aircraft model can be further applied to an actual anti-ship missile, the controllability of the anti-ship missile can be improved, and the outburst prevention capability of the anti-ship missile can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a simulation environment of a drone according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a simulation control method of a target drone according to an embodiment of the present application;
fig. 3 is a second schematic flow chart of a simulation control method of a target drone according to an embodiment of the present application;
fig. 4 is a flowchart illustrating a simulation control method of a target drone according to an embodiment of the present application;
Fig. 5 is a flow chart of a simulation control method of a target drone according to an embodiment of the present application;
Fig. 6 is a flowchart of a simulation control method of a target drone according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a navigational control phase provided by an embodiment of the present application;
FIG. 8 is a diagram of an overload control step response provided by an embodiment of the present application;
fig. 9 is a baud chart of overload control according to an embodiment of the present application;
FIG. 10 is a graph of a roll control step response provided by an embodiment of the present application;
FIG. 11 is a diagram of a roll control Bode provided by an embodiment of the present application;
fig. 12 is an overall flowchart of a simulation control method of a target drone according to an embodiment of the present application;
FIG. 13 is a schematic diagram of a simulated navigational trajectory of a drone according to an embodiment of the present application;
FIG. 14 is a schematic view of an overload condition of a drone according to an embodiment of the present application;
Fig. 15 is a schematic structural diagram of an analog control device of a target drone according to an embodiment of the present application;
fig. 16 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
The specific application environment of the simulation control method of the target drone provided by the embodiment of the application is explained through a specific simulation environment scene.
Fig. 1 is a schematic diagram of a simulation environment of a drone according to an embodiment of the present application, and referring to fig. 1, the picture shown in fig. 1 includes a drone 101 and a drone track 102, where the drone 101 may be a simulated drone model set in the simulation environment of the drone, and the drone track 102 may be a sailing track of the drone 101. The same drone 101 is shown in fig. 1 as navigating on the drone track 102.
Alternatively, the simulation environment of the drone may be a simulation running environment set in the electronic device, and the drone 101 represents the voyage scene of the anti-missile end guidance for simulation.
Alternatively, the electronic device may be an electronic device such as a computer, a mobile phone, a tablet computer, etc., which is not particularly limited herein.
The following explains a specific implementation procedure of the simulation control method of the target drone provided in the embodiment of the present application.
Fig. 2 is a flowchart of a simulation control method of a target drone according to an embodiment of the present application, please refer to fig. 2, the method includes:
S210: and acquiring current navigation information of the simulation target drone model in a simulation environment.
Alternatively, the current voyage information may include various types of information, such as: the current navigation direction, speed, transverse distance, longitudinal height, navigation maneuvering number and the like can be selected and obtained according to one or more of the actual requirements, and the method is not particularly limited.
Optionally, when simulation is performed in the computer program, the corresponding information may be obtained through a software program, and in the practical application process, the related information may be obtained through a sensor set on the end guidance of the anti-missile, which is not particularly limited herein.
S220: and determining the current navigation control stage of the simulation target drone model according to the current navigation information.
The simulated target machine model sails according to the sequence of the sailing control stages, and the formed route is a route with a preset shape.
Optionally, the sailing process of the simulated target aircraft model includes a plurality of sailing control stages, where the sailing control stages may be located at different positions on a preset course track, and the preset course track is the sailing track described in fig. 1. The simulated target aircraft model sequentially carries out navigation according to routes formed by navigation in a plurality of navigation control stages, and the navigation track can be obtained. The route is a preset shape route, and may be an "S" shape route in the embodiment of the present application.
Optionally, after determining the current voyage information, the voyage control stage to which the simulated target drone model currently belongs may be determined according to the voyage information, where the value of the current voyage information is different in different voyage control stages.
S230: and determining overload control information and heading control information of the simulated target machine model according to the value of the running parameter of the simulated target machine model in the current navigation control stage.
Alternatively, the operating parameters may include various types of parameters, such as: parameters such as pitch angle, roll angle and the like can be selected according to actual demands, and overload control information can be information for controlling overload conditions of the simulation target aircraft model, namely overload power and the like when the simulation target aircraft model sails; the heading control information may be a specific direction of the simulated drone model, i.e. a steering angle when the simulated drone model is sailing.
Optionally, after the operation parameters are determined, overload control information and heading control information of the simulated target model can be obtained through calculation according to a preset calculation mode according to specific parameter values.
S240: and controlling the simulated target drone model to navigate according to the overload control information and the heading control information.
Alternatively, the control information may be divided into a longitudinal portion and a transverse portion, where the longitudinal portion is overload control information and the transverse portion is heading control information.
Alternatively, the maneuvering action of the simulated target aircraft model can be realized by providing lifting force by a longitudinal lifting surface, and the overload can accurately reflect the magnitude of the lifting force and the kinematic effect generated by the lifting force, so that the overload control is adopted in the half-rolling inversion algorithm in the longitudinal direction. The elevator command is generated by the overload command, and high-precision overload control is realized through overload integration of large parameters. And in different sailing control stages, controlling the simulated target aircraft model to sail according to different overload control information and heading control information, so as to obtain the sailing track.
According to the simulation control method of the target drone, provided by the embodiment of the application, the current navigation information of the simulation target drone model in the simulation environment can be obtained; determining a current navigation control stage of the simulated target aircraft model according to the current navigation information, wherein the navigation process of the simulated target aircraft model comprises a plurality of navigation control stages, and the route formed by the simulated target aircraft model after navigation according to the sequence of the navigation control stages is a route with a preset shape; determining overload control information and heading control information of the simulated target aircraft model according to the value of the running parameter of the simulated target aircraft model in the current navigation control stage; and controlling the simulated target drone model to navigate according to the overload control information and the heading control information. After the overload control information and the course control information are acquired in the mode, the simulation target aircraft model is controlled according to the overload control information and the course control information, so that the controllability of the simulation target aircraft model can be improved, the simulation target aircraft model can be further applied to an actual anti-ship missile, the controllability of the anti-ship missile can be improved, and the outburst prevention capability of the anti-ship missile can be improved.
One of the embodiments of determining the current navigation control phase provided in the embodiment of the present application will be specifically explained below.
Fig. 3 is a second flow chart of a simulation control method of a target drone according to an embodiment of the present application, please refer to fig. 3, wherein current navigation information includes: a current heading; determining a current navigation control stage of the simulation target drone model according to the current navigation information, wherein the current navigation control stage comprises the following steps:
s310: and determining whether the simulation target drone model meets the first heading condition according to the current heading and the first preset heading.
Optionally, the current heading is a navigation direction of the current simulation target drone model, the first preset heading may be a preset navigation direction, and when it is determined that a deviation angle between the current heading and the first preset heading is within a certain preset range, it may be determined that the simulation target drone model meets the first heading condition.
For example: the first preset course can be set to be 0 degrees, the deviation angle is +/-5 degrees, and if the current course is within the range of < -5 > degrees and 5 degrees, the simulation target drone model can be determined to meet the first course condition; accordingly, if not within the interval, it may be determined that the simulated target model does not satisfy the first heading condition.
Optionally, the heading angle may be specifically set according to the actual requirement, for example, may be an angle relative to a horizontal plane, or may be a relative angle of a vertical horizontal plane, which is not limited herein, and if it is determined that the heading angle is determined in a certain setting manner, all heading angles may be set in the same setting manner.
S320: and if the simulated target aircraft model meets the first heading condition, determining the current navigation control stage of the simulated target aircraft model as a first navigation control stage.
Alternatively, after determining that the simulated drone model meets the first heading condition, it may be determined that a first navigational control phase has been currently entered, where the first navigational control phase may be a phase in which the simulated drone model is about to enter a first circular arc trajectory of the "S" shaped trajectory.
Another implementation of determining the current navigational control phase provided in the examples of the present application is explained in detail below.
Fig. 4 is a flowchart of a simulation control method of a target drone according to an embodiment of the present application, please refer to fig. 4, wherein current voyage information includes: a current heading; determining a current navigation control stage of the simulation target drone model according to the current navigation information, wherein the current navigation control stage comprises the following steps:
S410: and determining whether the simulation target drone model meets the second heading condition according to the current heading and the second preset heading.
Optionally, the second preset heading may be another preset certain heading direction, and when it is determined that the deviation angle between the current heading and the second preset heading is within a certain preset range, it may be determined that the simulated target model meets the second heading condition.
For example: the second preset course can be set to be 50 degrees, the deviation angle is +/-5 degrees, and if the current course is within the range of [45 degrees, 55 degrees ], the simulation target machine model can be determined to meet the second course condition; accordingly, if not within the interval, it may be determined that the simulated target model does not satisfy the second heading condition.
S420: and if the simulated target aircraft model meets the second heading condition, determining the current navigation control stage of the simulated target aircraft model as a second navigation control stage.
Alternatively, after determining that the simulated drone model meets the second heading condition, it may be determined that a second navigational control phase has been entered, where the second navigational control phase may be a phase in which the simulated drone model completes the first arc track of the "S" shaped track.
A further implementation of determining the current navigational control phase provided in the examples of the application is explained in detail below.
Fig. 5 is a flowchart of a simulation control method of a target drone according to an embodiment of the present application, please refer to fig. 5, wherein current voyage information includes: a lateral navigational distance; determining a current navigation control stage of the simulation target drone model according to the current navigation information, wherein the current navigation control stage comprises the following steps:
S510: and determining whether the simulated target drone model meets the navigational distance condition according to the transverse navigational distance.
Optionally, the lateral sailing distance may be a distance travelled by the simulated target machine model in the lateral direction after entering the second sailing control stage, the sailing distance condition may be a size of a certain distance, and when a size relationship between the lateral sailing distance and the certain distance corresponding to the sailing distance condition satisfies a preset condition, it may be determined that the sailing distance condition is satisfied.
For example: the lateral sailing distance may be set to d2 (the distance sailed in the lateral direction after the simulated target aircraft model enters the second sailing control stage), specifically, when d2 > -2d1, the sailing distance condition is satisfied; correspondingly, if d2 is less than or equal to-2 d1, the sailing distance condition is not satisfied; wherein d1 may be a distance travelled by the simulated drone model in a lateral direction from entering the first navigational control phase to entering the second navigational control phase.
The specific formulas of d1 and d2 are as follows:
Wherein t1 is the time of starting to accumulate when maneuvering in the first navigation control stage, t2 is the time of starting to accumulate when maneuvering in the second navigation control stage, v is the speed of the simulation target model, The method is used for simulating the deviation angle of the current heading of the target aircraft model and the heading of the central axis of S maneuvering.
S520: and if the simulated target aircraft model meets the sailing distance condition, determining the current sailing control stage of the simulated target aircraft model as a third sailing control stage.
Alternatively, after determining that the simulated drone model meets the voyage distance condition, it may be determined that a third voyage control phase has been currently entered, where the third voyage control phase may be a phase in which the simulated drone model is about to enter a second arc track of the "S" shaped track, the second arc track being subsequent to the first arc track.
A further implementation of determining the current navigational control phase according to the embodiment of the application is explained in detail below.
Fig. 6 is a flowchart fifth of a simulation control method of a target drone according to an embodiment of the present application, please refer to fig. 6, wherein current voyage information includes: transverse sailing distance and number of sailing turns; determining a current navigation control stage of the simulation target drone model according to the current navigation information, wherein the current navigation control stage comprises the following steps:
s610: and determining whether to reduce the number of maneuvering turns according to the transverse navigational distance.
Alternatively, the lateral sailing distance may be specifically a distance sailed in the lateral direction after the simulated target drone model enters the third sailing control stage, and may be represented by d3, where a specific calculation formula of d3 is as follows:
Wherein t3 is the time of starting the accumulation of maneuvers in the third cruise control phase.
If d3 is more than 0, the S maneuvering routes can be determined to be uniformly distributed on the two sides of the central axis, and further the maneuvering turns-1 of the sailing can be determined, namely the maneuvering turns of the sailing can be determined to be reduced.
S620: and determining whether the simulated target drone model meets the navigation lap condition according to the navigation lap.
Optionally, after determining the voyage turn number, if the voyage turn number is 0, determining that the simulated target aircraft model meets the voyage turn number condition; accordingly, if the simulated target drone model is not 0, it can be determined that the number of turns condition is not satisfied. The number of voyage maneuvers may be specifically a period during which the simulation target drone model performs maneuvers, for example: in the case of an S maneuver, the number of turns of the voyage maneuver may be specifically one cycle of the S maneuver.
S630: and if the simulated target aircraft model meets the navigation turn number condition, determining that the current navigation control stage of the simulated target aircraft model is a fourth navigation control stage.
Optionally, after determining that the simulated drone model meets the number of turns condition, it may be determined that a fourth navigational control phase has been entered, where the fourth navigational control phase may be a phase in which the simulated drone model completes the second circular arc trajectory of the "S" shaped trajectory.
The four navigational control phases provided in the present application correspond to positions in the navigational track are explained below by way of specific illustrations.
Fig. 7 is a schematic diagram of a navigation control stage provided in an embodiment of the application, please refer to fig. 7, in fig. 7:
the first navigation control stage is between points A and B, the simulation target aircraft model enters into S maneuver, the heading is changed for the first time, and the simulation target aircraft model enters into a first arc track;
The second navigation control stage is between points B and D, the course of the simulation target aircraft model is changed for the second time, the course is turned over, the first arc is completed, and the simulation target aircraft model is transited to the second arc starting section;
The third navigation control stage is between points D and E, the course of the simulation target drone model changes, and the simulation target drone model enters a second arc;
And the fourth navigation control stage is between points E and F, the second arc of the simulation target drone model is completed, and the simulation target drone model is transited to the push-out stage.
The time consumed from the point B to the point C is t, and at the beginning of the navigation control stage, the femto seconds are required to be flattened along the set heading, and the size of the transverse distance can be changed by different t values. d1 and d2 specific lengths are also noted in figure 7,Setting for S motor sector arc angle,/>The larger the fan-shaped arc, which is generally set to 30 to 50 °.
Optionally, determining overload control information and heading control information of the simulated target drone model according to the value of the operation parameter of the simulated target drone model in the current navigation control stage comprises:
And determining overload control information of the simulated target machine model according to the value of a first operation parameter of the simulated target machine model in the current navigation control stage, wherein the first operation parameter comprises: overload control integral parameters, overload instruction information, overload information, pitch control damping parameters, pitch rate.
Optionally, the specific calculation formula of the overload control information is as follows:
wherein delta e is the elevator angle, i.e. the overload control information, For overload control integral parameters, N zc is overload instruction information, N z is overload information,/>Damping parameters are controlled for pitch, ω y is pitch rate.
Alternatively, after the above-mentioned elevator angle is determined, overload of the simulated target model can be controlled, that is, longitudinal control can be achieved, specifically, longitudinal raising and lowering can be achieved by changing the elevator angle.
Optionally, determining overload control information and heading control information of the simulated target drone model according to the value of the operation parameter of the simulated target drone model in the current navigation control stage comprises:
And determining course control information of the simulated target machine model according to the value of a second operation parameter of the simulated target machine model in the current affiliated course control stage, wherein the second operation parameter comprises: heading control proportion parameters, heading instruction information, heading information, roll control proportion parameters, roll angle information, roll control damping parameters and roll angle rate.
Optionally, the heading control is implemented by a roll angle control, and the heading control information is as follows:
Wherein delta a is the aileron angle, i.e. the heading control information described above, For course control scale parameter,/>For course instruction information,/>K γ is roll control proportion parameter, gamma is roll angle information,/>, which is course informationFor roll control damping parameters, ω x is the roll angle rate and γ c is the roll angle command information.
Optionally, after the aileron angle is determined, the heading of the simulated target model can be controlled, that is, lateral control can be achieved, specifically, lateral left or right can be achieved by changing the aileron angle.
The following explains the relevant parameter variations for each navigational control phase, respectively:
in the first navigation control stage, the course is set to read S motor-exiting course set value Resolving the control into heading set point/>Set as/>The overload setting is read for overload setting n c, longitudinally into overload control. Where n c may be the set point for overload, i.e. the overload value that is desired to be achieved.
In the second navigation control stage, the heading is set to be the set value t of the motor-driven reading S, and at the beginning of the second stage, the heading needs to be flat femto seconds along the set heading, and different t values can change the size of the transverse distance. At the moment, the course set value isAfter t seconds are finished, the target aircraft starts to turn the course, and the course set value is/>The overload setting is read for overload setting n c, longitudinally into overload control.
In the third navigation control stage, the course is set to read the set value t of S maneuver, and at the beginning of the third stage, the course needs to be flat for femto seconds along the set course, and the set value of the course isAfter t seconds are finished, the target aircraft starts to turn the course, and the course set value is/>The overload setting is read for overload setting n c, longitudinally into overload control.
In the fourth navigation control stage, the course is set as the target aircraft begins to turn the course, and the course set value isThe overload setting is read for overload setting n c, longitudinally into overload control.
In addition, the ending condition of the fourth navigation control stage is that the deviation of the current heading and the heading set value is less than 5 degrees.
Wherein, the parameters can be configured by the following ways:
Exiting the heading: by passing through And (5) setting.
Arc angle: by passing throughAnd (5) setting.
Starting arc direction: by passing throughSetting,/>Negative turns left and then right, regular turns right and then left.
Arc size: set by the value of t.
The number of turns: set by the number of turns n.
The method is further illustrated by a half-roll reversing maneuver control method by a specific chart as follows:
Fig. 8 is an overload control step response diagram provided in an embodiment of the present application, referring to fig. 8, control parameters may be designed by using a root locus method, and control parameter evaluation may be performed by using a time domain and a frequency domain method. The overload control parameter satisfies 1.5 times of pull bias.
Table 1 is a list of overload control parameters and performance, specifically as follows:
TABLE 1
| Speed of speed | Amplitude margin (dB) | Phase margin (°) | Delay margin (ms) |
| 130 | 29 | 96.8 | 159 |
| 180 | 25.6 | 97.9 | 115.1 |
| 230 | 24.6 | 97.9 | 103.3 |
From this table, an overload control step response map can be mapped, and reference is specifically made to fig. 8.
Fig. 9 is an overload control baud chart provided in the embodiment of the present application, please refer to fig. 9, and fig. 9 is an overload control baud chart corresponding to fig. 8.
FIGS. 8 and 9 are overload control step response diagrams and overload control baud diagrams drawn according to the data in Table 1, wherein the step response diagrams represent that the control is correspondingly quick and has no overshoot; the baud diagram indicates that the amplitude and phase margin of the control parameters meet the demand.
Fig. 10 is a step response diagram of roll control according to an embodiment of the present application, referring to fig. 10, control parameters may be designed by using a root locus method, and control parameter evaluation may be performed by using time domain and frequency domain methods. The overload control parameter satisfies 1.5 times of pull bias. The parameters of the rolling channel meet the requirement of 1.5 times of deflection pulling.
Table 2 is a list of roll control parameters and performance, as follows:
TABLE 2
| Speed of speed | Amplitude margin (dB) | Phase margin (°) | Delay margin (ms) |
| 80 | 19.2 | 75.4 | 109.3 |
| 130 | 15.9 | 74.6 | 82.3 |
| 180 | 13.8 | 73.6 | 66 |
| 230 | 12.3 | 74.8 | 57.1 |
From this table, a roll control step response map can be mapped, and reference is made specifically to fig. 10.
Fig. 11 is a rolling control baud chart provided in the embodiment of the application, please refer to fig. 11, and fig. 11 is an overload control baud chart corresponding to fig. 10.
FIGS. 10 and 11 are a step response diagram of the roll control and a baud diagram of the roll control, which are drawn according to the data in Table 2, the step response diagram representing a corresponding fast control without overshoot; the baud diagram indicates that the amplitude and phase margin of the control parameters meet the demand.
Fig. 12 is an overall flowchart of a simulation control method of a target drone according to an embodiment of the present application, please refer to fig. 12, and overall steps are as follows:
s710: and acquiring current navigation information of the simulation target drone model in a simulation environment.
S720: it is determined whether the simulated drone model meets a first heading condition. If yes, S721 is executed, and if not, S730 is executed.
S721: and determining the current navigation control stage of the simulated target drone model as a first navigation control stage.
S722: overload control information and course control information corresponding to the first navigation control stage are determined. S730 is performed.
S730: it is determined whether the simulated drone model meets a second heading condition. If yes, S731 is executed, and if not, S740 is executed.
S731: and determining the current navigation control stage of the simulated target drone model as a second navigation control stage.
S732: and determining overload control information and course control information corresponding to the second navigation control stage. S740 is performed.
S740: it is determined whether the simulated drone model meets the range condition. If yes, S741 is executed, and if not, S750 is executed.
S741: and determining the current navigation control stage of the simulated target drone model as a third navigation control stage.
S742: and determining overload control information and course control information corresponding to the third navigation control stage. S750 is performed.
S750: it is determined whether the simulated drone model meets the number of turns condition. If yes, S751 is executed, and if not, S760 is executed.
S751: and determining the current navigation control stage of the simulated target drone model as a fourth navigation control stage.
S752: and determining overload control information and heading control information corresponding to the fourth navigation control stage. S760 is performed.
S760: it is determined whether the simulated drone model meets the exit maneuver condition. If so, S761 is performed.
S761: and exiting the maneuver.
Fig. 13 is a schematic diagram of a simulated sailing trajectory of a target drone according to an embodiment of the present application, referring to fig. 13, after simulation by an electronic device, a semi-physical simulation platform progressive S maneuver simulation may be built, and parameters are set as follows:
Exiting the heading:
arc angle:
Arc size: t=2;
the number of turns: n=1;
Overload setting: 4g;
Simulation results show that the algorithm can realize the S maneuvering function, has engineering realization capability, can realize control and limitation of transverse distance, and has strong algorithm usability.
Fig. 13 shows a simulated navigational trajectory of the drone, with longitude in the transverse direction and latitude in the longitudinal direction. The lines shown are the navigation trajectories.
Fig. 14 is a schematic diagram of an overload situation of a target drone according to an embodiment of the present application, referring to fig. 14, fig. 14 is a schematic diagram of an overload situation of a target drone in a track corresponding to fig. 13, where a horizontal axis is time and a vertical axis is overload.
The following describes a device, equipment, a storage medium, etc. corresponding to the simulation control method of the target drone provided by the present application, and specific implementation processes and technical effects thereof are referred to above, and are not described in detail below.
Fig. 15 is a schematic structural diagram of an analog control device for a target drone according to an embodiment of the present application, please refer to fig. 15, the device includes: an acquisition module 110, a determination module 120, a voyage module 130;
an acquisition module 110, configured to acquire current navigation information of the simulated target drone model in a simulation environment;
The determining module 120 is configured to determine, according to current navigation information, a current navigation control stage to which the simulated target machine model belongs, where a navigation process of the simulated target machine model includes a plurality of navigation control stages, and a route formed by the simulated target machine model after navigation according to a sequence of the navigation control stages is a route with a preset shape;
The determining module 120 is further configured to determine overload control information and heading control information of the simulated target drone model according to a value of an operation parameter of the simulated target drone model in a current navigational control stage;
And the navigation module 130 is used for controlling the simulated target drone model to navigate according to the overload control information and the heading control information.
Optionally, the current voyage information includes: a current heading; the determining module 120 is specifically configured to determine whether the simulated target drone model meets a first heading condition according to the current heading and a first preset heading; and if the simulated target aircraft model meets the first heading condition, determining the current navigation control stage of the simulated target aircraft model as a first navigation control stage.
Optionally, the current voyage information includes: a current heading; the determining module 120 is specifically configured to determine whether the simulated target drone model meets a second heading condition according to the current heading and a second preset heading; and if the simulated target aircraft model meets the second heading condition, determining the current navigation control stage of the simulated target aircraft model as a second navigation control stage.
Optionally, the current voyage information includes: a lateral navigational distance; the determining module 120 is specifically configured to determine whether the simulated target drone model meets the sailing distance condition according to the lateral sailing distance; and if the simulated target aircraft model meets the sailing distance condition, determining the current sailing control stage of the simulated target aircraft model as a third sailing control stage.
Optionally, the current voyage information includes: transverse sailing distance and number of sailing turns; a determining module 120, specifically configured to determine whether to reduce the number of maneuvering turns according to the lateral navigational distance; determining whether the simulated target aircraft model meets the navigation lap condition according to the navigation lap; and if the simulated target aircraft model meets the navigation turn number condition, determining that the current navigation control stage of the simulated target aircraft model is a fourth navigation control stage.
Optionally, the determining module 120 is specifically configured to determine overload control information of the simulated drone model according to a value of a first operation parameter of the simulated drone model in a current navigational control stage, where the first operation parameter includes: overload control integral parameters, overload instruction information, overload information, pitch control damping parameters, pitch rate.
Optionally, the determining module 120 is specifically configured to determine heading control information of the simulated drone model according to a value of a second operation parameter of the simulated drone model in a current navigational control stage, where the second operation parameter includes: heading control proportion parameters, heading instruction information, heading information, roll control proportion parameters, roll angle information, roll control damping parameters and roll angle rate.
The foregoing apparatus is used for executing the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
The above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more Application SPECIFIC INTEGRATED Circuits (ASIC), or one or more microprocessors (DIGITAL SINGNAL processor, DSP), or one or more field programmable gate arrays (Field Programmable GATE ARRAY, FPGA), etc. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 16 is a schematic structural diagram of a computer device according to an embodiment of the present application, referring to fig. 16, the computer device includes: the target machine simulation control method includes a memory 210 and a processor 220, wherein the memory 210 stores a computer program executable on the processor 220, and the processor 220 implements the steps of the target machine simulation control method when executing the computer program.
In another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the above-described simulation control method of a target drone.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform part of the steps of the methods of the embodiments of the invention. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The foregoing is merely illustrative of embodiments of the present application, and the present application is not limited thereto, and any changes or substitutions can be easily made by those skilled in the art within the technical scope of the present application, and the present application is intended to be covered by the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A method of analog control of a drone, characterized by being applied to an electronic device in which a simulation environment of the drone is run, the simulation environment including a simulated drone model of the drone, the method comprising:
acquiring current navigation information of the simulation target drone model in the simulation environment;
Determining a current navigation control stage of the simulated target aircraft model according to the current navigation information, wherein the navigation process of the simulated target aircraft model comprises a plurality of navigation control stages, and the route formed by the simulated target aircraft model after navigation according to the sequence of the navigation control stages is a route with a preset shape;
determining overload control information and heading control information of the simulation target drone model according to the value of the running parameter of the simulation target drone model in the current navigation control stage;
And controlling the simulated target aircraft model to navigate according to the overload control information and the heading control information, wherein the control information is divided into a longitudinal part and a transverse part, the longitudinal part is the overload control information, and the transverse part is the heading control information.
2. The method of claim 1, wherein the current voyage information comprises: a current heading;
the determining, according to the current navigation information, a current navigation control stage to which the simulated target drone model belongs, including:
determining whether the simulation target drone model meets a first heading condition according to the current heading and a first preset heading;
And if the simulated target drone model meets the first heading condition, determining the current navigation control stage of the simulated target drone model as a first navigation control stage.
3. The method of claim 1, wherein the current voyage information comprises: a current heading;
the determining, according to the current navigation information, a current navigation control stage to which the simulated target drone model belongs, including:
determining whether the simulation target drone model meets a second heading condition according to the current heading and a second preset heading;
And if the simulated target drone model meets the second heading condition, determining the current navigation control stage of the simulated target drone model as a second navigation control stage.
4. The method of claim 1, wherein the current voyage information comprises: a lateral navigational distance;
the determining, according to the current navigation information, a current navigation control stage to which the simulated target drone model belongs, including:
determining whether the simulated target drone model meets a sailing distance condition according to the transverse sailing distance;
And if the simulated target aircraft model meets the navigation distance condition, determining that the current navigation control stage of the simulated target aircraft model is a third navigation control stage.
5. The method of claim 1, wherein the current voyage information comprises: transverse sailing distance and number of sailing turns;
the determining, according to the current navigation information, a current navigation control stage to which the simulated target drone model belongs, including:
determining whether to reduce the navigation maneuvering turns according to the transverse navigation distance;
determining whether the simulated target drone model meets the navigation lap condition according to the navigation lap;
and if the simulated target aircraft model meets the navigation turn number condition, determining that the current navigation control stage of the simulated target aircraft model is a fourth navigation control stage.
6. The method of any of claims 1-5, wherein determining overload control information and heading control information for the simulated drone model based on values of operating parameters of the simulated drone model at a current navigational control stage to which the simulated drone model belongs, comprises:
Determining overload control information of the simulated target drone model according to the value of a first operation parameter of the simulated target drone model in a current navigation control stage, wherein the first operation parameter comprises: overload control integral parameters, overload instruction information, overload information, pitch control damping parameters, pitch rate.
7. The method of any of claims 1-5, wherein determining overload control information and heading control information for the simulated drone model based on values of operating parameters of the simulated drone model at a current navigational control stage to which the simulated drone model belongs, comprises:
Determining course control information of the simulated target drone model according to the value of a second operation parameter of the simulated target drone model in the current affiliated course control stage, wherein the second operation parameter comprises: heading control proportion parameters, heading instruction information, heading information, roll control proportion parameters, roll angle information, roll control damping parameters and roll angle rate.
8. An analog control device of a drone, characterized by being applied to an electronic device in which a simulation environment of the drone is operated, the simulation environment including a simulation drone model of the drone, the device comprising: the system comprises an acquisition module, a determination module and a navigation module;
The acquisition module is used for acquiring current navigation information of the simulation target drone model in the simulation environment;
The determining module is used for determining a current navigation control stage of the simulation target aircraft model according to the current navigation information, wherein the navigation process of the simulation target aircraft model comprises a plurality of navigation control stages, and a route formed after the simulation target aircraft model navigates according to the sequence of the navigation control stages is a route with a preset shape;
The determining module is further used for determining overload control information and heading control information of the simulation target drone model according to the value of the operation parameter of the simulation target drone model in the current navigation control stage;
And the navigation module is used for controlling the simulated target aircraft model to navigate according to the overload control information and the course control information, wherein the control information is divided into a longitudinal part and a transverse part, the longitudinal part is the overload control information, and the transverse part is the course control information.
9. A computer device, comprising: memory, a processor, in which a computer program is stored which is executable on the processor, when executing the computer program, realizing the steps of the method of any of the preceding claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method according to any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111162314.8A CN113917852B (en) | 2021-09-30 | 2021-09-30 | Simulation control method, device and equipment of target drone and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111162314.8A CN113917852B (en) | 2021-09-30 | 2021-09-30 | Simulation control method, device and equipment of target drone and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113917852A CN113917852A (en) | 2022-01-11 |
| CN113917852B true CN113917852B (en) | 2024-04-26 |
Family
ID=79237606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111162314.8A Active CN113917852B (en) | 2021-09-30 | 2021-09-30 | Simulation control method, device and equipment of target drone and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113917852B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102645933A (en) * | 2012-05-02 | 2012-08-22 | 中国人民解放军海军航空工程学院 | Method for implementing flexible combined overload control for aircraft in large airspace |
| CN105549604A (en) * | 2015-12-10 | 2016-05-04 | 腾讯科技（深圳）有限公司 | Aircraft control method and apparatus |
| CN106998323A (en) * | 2017-03-06 | 2017-08-01 | 深信服科技股份有限公司 | Application layer network attack emulation mode, apparatus and system |
| CN107218849A (en) * | 2017-06-18 | 2017-09-29 | 陈东华 | A kind of intelligent simulation target drone and its method of work |
| CN109359408A (en) * | 2018-10-31 | 2019-02-19 | 湖北航天技术研究院总体设计所 | A kind of air-to-surface missile control Whole Process Simulation system and method |
| CN109974708A (en) * | 2019-04-09 | 2019-07-05 | 集美大学 | A kind of unmanned boat path planning method, terminal device and storage medium |
| CN110069071A (en) * | 2019-05-15 | 2019-07-30 | 深圳铂石空间科技有限公司 | Navigation of Pilotless Aircraft method and apparatus, storage medium, electronic equipment |
| CN111522252A (en) * | 2020-04-02 | 2020-08-11 | 北京仿真中心 | Semi-physical simulation method and system |
| CN111634436A (en) * | 2020-06-03 | 2020-09-08 | 北京星网宇达科技股份有限公司 | Target aircraft launching control method and device, target aircraft flight control computer and storage medium |
| CN111813137A (en) * | 2020-07-15 | 2020-10-23 | 江西洪都航空工业集团有限责任公司 | Target robot in-loop control method |
| CN112434465A (en) * | 2020-11-19 | 2021-03-02 | 江苏省海洋水产研究所 | Method for extracting effective net length of shrimp net based on ship position data |
| CN112698580A (en) * | 2020-12-15 | 2021-04-23 | 北京航天飞腾装备技术有限责任公司 | Semi-physical simulation system and method suitable for infrared accurate guidance bomb |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10746512B2 (en) * | 2017-12-20 | 2020-08-18 | Garmin Switzerland Gmbh | Shot tracking and feedback system |
| WO2021221758A2 (en) * | 2020-02-13 | 2021-11-04 | Skydio, Inc. | Performing 3d reconstruction via an unmanned aerial vehicle |
-
2021
- 2021-09-30 CN CN202111162314.8A patent/CN113917852B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102645933A (en) * | 2012-05-02 | 2012-08-22 | 中国人民解放军海军航空工程学院 | Method for implementing flexible combined overload control for aircraft in large airspace |
| CN105549604A (en) * | 2015-12-10 | 2016-05-04 | 腾讯科技（深圳）有限公司 | Aircraft control method and apparatus |
| CN106998323A (en) * | 2017-03-06 | 2017-08-01 | 深信服科技股份有限公司 | Application layer network attack emulation mode, apparatus and system |
| CN107218849A (en) * | 2017-06-18 | 2017-09-29 | 陈东华 | A kind of intelligent simulation target drone and its method of work |
| CN109359408A (en) * | 2018-10-31 | 2019-02-19 | 湖北航天技术研究院总体设计所 | A kind of air-to-surface missile control Whole Process Simulation system and method |
| CN109974708A (en) * | 2019-04-09 | 2019-07-05 | 集美大学 | A kind of unmanned boat path planning method, terminal device and storage medium |
| CN110069071A (en) * | 2019-05-15 | 2019-07-30 | 深圳铂石空间科技有限公司 | Navigation of Pilotless Aircraft method and apparatus, storage medium, electronic equipment |
| CN111522252A (en) * | 2020-04-02 | 2020-08-11 | 北京仿真中心 | Semi-physical simulation method and system |
| CN111634436A (en) * | 2020-06-03 | 2020-09-08 | 北京星网宇达科技股份有限公司 | Target aircraft launching control method and device, target aircraft flight control computer and storage medium |
| CN111813137A (en) * | 2020-07-15 | 2020-10-23 | 江西洪都航空工业集团有限责任公司 | Target robot in-loop control method |
| CN112434465A (en) * | 2020-11-19 | 2021-03-02 | 江苏省海洋水产研究所 | Method for extracting effective net length of shrimp net based on ship position data |
| CN112698580A (en) * | 2020-12-15 | 2021-04-23 | 北京航天飞腾装备技术有限责任公司 | Semi-physical simulation system and method suitable for infrared accurate guidance bomb |
Non-Patent Citations (2)
| Title |
|---|
| 武器装备试验靶标建设与发展研究;穆原子;丁力军;陈锋;;国防科技;20130620(03);第45-49页 * |
| 脉冲调制式红外空空导弹仿真;黄鹤松等;《激光与红外》;第44卷(第9期);第1019-1024页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113917852A (en) | 2022-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103017753B (en) | Unmanned aerial vehicle route planning method and device | |
| CN107908109B (en) | Hypersonic aircraft reentry section track optimization controller based on orthogonal configuration optimization | |
| CN109634299A (en) | All-wing aircraft UAV Maneuver flight control method based on Multi-mode control | |
| CN109094573A (en) | For determining the method and system of the optimum coefficient of the controller of automatic driving vehicle | |
| CN105892487B (en) | A kind of unmanned plane 8-shaped flight tracking control method | |
| US20180032077A1 (en) | Method for guiding and controlling drone using information for controlling camera of drone | |
| CN111123947B (en) | Robot travel control method and device, electronic equipment, medium and robot | |
| CN110889170B (en) | Method for estimating falling angle and attack angle of large-angle attack target of aircraft | |
| CN105806360A (en) | Navigation aid method based on meteorological conditions | |
| CN109655063B (en) | Marine search route planning method for large amphibious aircraft | |
| CN112965471B (en) | Artificial potential field path planning method considering angular velocity constraint and improving repulsive field | |
| CN107741232B (en) | Method and device for planning route of survey vessel | |
| CN110775103B (en) | Method for controlling soft landing of vehicle and related controller and system | |
| CN108180921A (en) | Utilize the AR-HUD navigation system and its air navigation aid of GPS data | |
| CN113917852B (en) | Simulation control method, device and equipment of target drone and storage medium | |
| CN114610023A (en) | Unmanned ship path tracking control method | |
| CN105235917A (en) | Control moment gyroscope group steering law implementation method tending to target frame angle | |
| KR101833243B1 (en) | Apparatus and method for estimating air speed of flight vehicle | |
| CN114088094A (en) | Intelligent route planning method and system for unmanned ship | |
| CN113093801A (en) | Method for making air route file of multi-unmanned aerial vehicle cooperative formation | |
| CN111290406A (en) | Path planning method, robot and storage medium | |
| CN116301058A (en) | Unmanned flight feedback nonlinear yaw control method, system and equipment | |
| CN116125980A (en) | Unmanned truck driving method and device, electronic equipment and storage medium | |
| CN104833374A (en) | Realtime imitation helicopter flight navigation method and system | |
| CN113625768A (en) | Mars helicopter flight path planning method, system, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |